Rope-driven large-motion-range flexible bionic ball socket joint

A rope-driven, ball-and-socket joint technology, applied in the field of robotics, can solve the problems of insufficient compact structure and small range of motion, and achieve the effects of convenient transportation and carrying, reducing the weight of the arm, and reducing the moment of inertia.

Pending Publication Date: 2021-01-08
BEIJING JIAOTONG UNIV
View PDF0 Cites 5 Cited by
  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

Due to the constraints of manufacturing technology and driving methods, most of the robots are single-degree-of-freedom joints in series. Although the parallel mechanism can imitate the movement of three-degree-of-freedom joints, the range of motion is generally small and the structure is not compact enough.

Method used

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
View more

Image

Smart Image Click on the blue labels to locate them in the text.
Viewing Examples
Smart Image
  • Rope-driven large-motion-range flexible bionic ball socket joint
  • Rope-driven large-motion-range flexible bionic ball socket joint
  • Rope-driven large-motion-range flexible bionic ball socket joint

Examples

Experimental program
Comparison scheme
Effect test

Embodiment Construction

[0018] exist figure 1 Among them, a deployable mechanism 1, two spherical scissor mechanisms 2, a rope 3, a ball head 4, a chute cover 5 and a ball socket 6 together constitute the entire ball and socket joint. One end of the rope 3 is connected to the offset driving rod on the ball head 3, passes through the expandable mechanism 1, and protrudes from the bottom of the driving chute 62, and the other end of the rope 3 is connected to the driver, and the ball head 4 is driven in the ball socket 6 by controlling four ropes. inner movement.

[0019] figure 2 It is a schematic diagram of the ball socket. There are 6 slide rails on the ball socket, 2 flexible slide grooves 61 connected to the spherical scissor mechanism, and 4 drive slide grooves 62 connected to the expandable mechanism.

[0020] image 3 It is a schematic diagram of the deployable mechanism, two pulleys 13 are installed on both sides of the first-stage unfolding slider 11 through cylindrical pins, and the seco...

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to view more

PUM

No PUM Login to view more

Abstract

The invention discloses a rope-driven large-motion-range flexible bionic ball socket joint, and belongs to the technical field of robots. A ball head can rotate in a ball socket in a three-degree-of-freedom manner, two offset driving rods are symmetrically arranged at the ball head, two flexible sliding grooves are symmetrically formed in the ball socket, one ends of spherical shear fork mechanisms are connected with the offset rods, the other ends of the spherical shear fork mechanisms are connected with flexible sliding blocks, the flexible sliding blocks can slide along the flexible slidinggrooves, and springs are installed between the sliding grooves and the sliding blocks. The structure simulates the human ligament to limit the joint. A muscle driving manner of the human body is simulated, four rope driving structures are symmetrically arranged in the driving sliding grooves in the ball socket in pairs, each rope driving structure is an expandable mechanism and can be expanded only under single-direction pulling force, one end of each rope is connected to a driving rod of the ball head, and the other end of each rope is wound around the interior of the corresponding rope driving structure and extends out of the lower side of the ball socket to be then connected with a driver, and the three rotational degrees of freedom of the ball socket joint can be controlled. The jointhas high compactness, and the deflection range can reach 120 degrees.

Description

[0001] Technical field [0002] The invention relates to the technical field of robots, in particular to a mechanical ball and socket joint. Background technique [0003] The shoulder joint of the human body is a three-degree-of-freedom ball-and-socket joint, which has the advantages of compact structure and large range of motion. Due to the constraints of manufacturing technology and driving methods, most robots are serial single-degree-of-freedom joints. Although parallel mechanisms can imitate the movement of three-degree-of-freedom joints, their range of motion is generally small and their structures are not compact enough. Contents of the invention [0004] In order to overcome the shortcomings of the traditional joint structure, the present invention simulates the biological structure of the human shoulder joint, and designs a flexible ball-and-socket bionic joint. The ball-and-socket joint is driven by a cable and is matched with a flexible mechanical structure. It h...

Claims

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to view more

Application Information

Patent Timeline
no application Login to view more
Patent Type & Authority Applications(China)
IPC IPC(8): B25J17/02
CPCB25J17/0275
Inventor 张秀丽罗钤淯
Owner BEIJING JIAOTONG UNIV
Who we serve
  • R&D Engineer
  • R&D Manager
  • IP Professional
Why Eureka
  • Industry Leading Data Capabilities
  • Powerful AI technology
  • Patent DNA Extraction
Social media
Try Eureka
PatSnap group products

Browse by: Latest US Patents, China's latest patents, Technical Efficacy Thesaurus, Application Domain, Technology Topic.

© 2024 PatSnap. All rights reserved.Legal|Privacy policy|Modern Slavery Act Transparency Statement|Sitemap